A novel approach to the derivation of a discrete-time decoupling control algorithm for robotic manipulators is presented. By using previously introduced discrete-time models, linearizing and decoupling control laws are obtained directly in the discrete-time domain. Simulation results validate the effectiveness of this approach, especially with respect to the alternative one consisting in discretizing the continuous decoupling laws.
Nicosia, S., Tomei, P., Tornambe, A. (1987). Nonlinear discrete-time control algorithm for robot manipulators. In Proceedings of the IEEE Conference on Decision and Control (pp.205-210). New York, NY, USA : IEEE [10.1109/CDC.1987.272742].
Nonlinear discrete-time control algorithm for robot manipulators
Nicosia, S.;Tomei, P.;Tornambe, A.
1987-01-01
Abstract
A novel approach to the derivation of a discrete-time decoupling control algorithm for robotic manipulators is presented. By using previously introduced discrete-time models, linearizing and decoupling control laws are obtained directly in the discrete-time domain. Simulation results validate the effectiveness of this approach, especially with respect to the alternative one consisting in discretizing the continuous decoupling laws.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
